CHolonomicVFF.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CHolonomicVFF_H
#define CHolonomicVFF_H

#include "CAbstractHolonomicReactiveMethod.h"
#include "CHolonomicLogFileRecord.h"
#include <mrpt/utils/CLoadableOptions.h>


namespace mrpt
{
  namespace nav
  {
         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, NAV_IMPEXP )

        /** A class for storing extra information about the execution of
         *    CHolonomicVFF navigation.
         * \sa CHolonomicVFF, CHolonomicLogFileRecord
         *  \ingroup mrpt_nav_grp
         */
        class NAV_IMPEXP CLogFileRecord_VFF : public CHolonomicLogFileRecord
        {
                DEFINE_SERIALIZABLE( CLogFileRecord_VFF )
         public:

                 /** Member data.
                   */

        };
         DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CLogFileRecord_VFF, CHolonomicLogFileRecord, NAV_IMPEXP )


        /** A holonomic reactive navigation method, based on Virtual Force Fields (VFF).
         *
         * These are the optional parameters of the method which can be set by means of a configuration file passed to the constructor or to CHolonomicND::initialize (see also the field CHolonomicVFF::options).
         *
         * \code
         * [VFF_CONFIG]
         * TARGET_SLOW_APPROACHING_DISTANCE = 0.10  // For stopping gradually
         * TARGET_ATTRACTIVE_FORCE          = 20    // Dimension-less (may have to be tuned depending on the density of obstacle sampling)
         * \endcode
         *
         *  \sa CAbstractHolonomicReactiveMethod,CReactiveNavigationSystem
         */
        class NAV_IMPEXP CHolonomicVFF : public CAbstractHolonomicReactiveMethod
        {
        public:
                MRPT_MAKE_ALIGNED_OPERATOR_NEW
        public:
                /**  Initialize the parameters of the navigator, from some configuration file, or default values if set to NULL.
                  */
                CHolonomicVFF(const mrpt::utils::CConfigFileBase *INI_FILE=NULL);

                /** This method performs the holonomic navigation itself.
                  *  \param target [IN] The relative location (x,y) of target point.
                  *  \param obstacles [IN] Distance to obstacles from robot location (0,0). First index refers to -PI direction, and last one to +PI direction. Distances can be dealed as "meters", although they are "pseudometers", see note below.
                  *  \param maxRobotSpeed [IN] Maximum robot speed, in "pseudometers/sec". See note below.
                  *  \param desiredDirection [OUT] The desired motion direction, in the range [-PI,PI]
                  *  \param desiredSpeed [OUT] The desired motion speed in that direction, in "pseudometers"/sec. (See note below)
                  *  \param logRecord [IN/OUT] A placeholder for a pointer to a log record with extra info about the execution. Set to NULL if not required. User <b>must free memory</b> using "delete logRecord" after using it.
                  *
                  *  NOTE: With "pseudometers" we refer to the distance unit in TP-Space, thus:
                  *     <br><center><code>pseudometer<sup>2</sup>= meter<sup>2</sup> + (rad · r)<sup>2</sup></code><br></center>
                  */
                void  navigate( const mrpt::math::TPoint2D &target,
                                                        const std::vector<float>        &obstacles,
                                                        double                  maxRobotSpeed,
                                                        double                  &desiredDirection,
                                                        double                  &desiredSpeed,
                                                        CHolonomicLogFileRecordPtr &logRecord );

                /**  Initialize the parameters of the navigator from section "VFF_CONFIG" of a config file. \sa options */
                void  initialize( const mrpt::utils::CConfigFileBase &INI_FILE )
                {
                        options.loadFromConfigFile(INI_FILE, std::string("VFF_CONFIG"));
                }

                /** Algorithm options */
                struct NAV_IMPEXP TOptions : public mrpt::utils::CLoadableOptions
                {
                        double TARGET_SLOW_APPROACHING_DISTANCE; //!< For stopping gradually (Default: 0.10)
                        double TARGET_ATTRACTIVE_FORCE;          //!< Dimension-less (may have to be tuned depending on the density of obstacle sampling) (Default: 20)

                        TOptions();
                        virtual void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string &section) const;
                        virtual void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section);
                };

                TOptions options;  //!< Parameters of the algorithm (can be set manually or loaded from CHolonomicVFF::initialize or options.loadFromConfigFile(), etc.)

        };
  }
}


#endif